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  <div class="headertitle"><div class="title">D:/QtProject/DynamicWindowApproach/cdynamicwindowapproach.h</div></div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#ifndef CDYNAMICWINDOWAPPROACH_H</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#define CDYNAMICWINDOWAPPROACH_H</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span> </div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;CoordinateTransformation.h&quot;</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="keyword">using namespace </span>std;</div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#define INF                 ((2&lt;&lt;32)-1)</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#define WEIGHT_HEADING      0.1                     </span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#define WEIGHT_CLEARANCE    0.2                     </span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#define WEIGHT_VELOCITY     0.05                    </span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span> </div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="struct_s_parameter_of_physical_constraint.html">   18</a></span><span class="keyword">struct </span><a class="code hl_struct" href="struct_s_parameter_of_physical_constraint.html">SParameterOfPhysicalConstraint</a></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>{</div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="struct_s_parameter_of_physical_constraint.html#ac53c4bcd27706744f43af32668bb9670">   20</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="struct_s_parameter_of_physical_constraint.html#ac53c4bcd27706744f43af32668bb9670">m_u</a>;     </div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="struct_s_parameter_of_physical_constraint.html#a9162cb31649108465bf25e33a6711b25">   21</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="struct_s_parameter_of_physical_constraint.html#a9162cb31649108465bf25e33a6711b25">m_v</a>;     </div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="struct_s_parameter_of_physical_constraint.html#a3a04623b5bfe7c3953e143544fea6a11">   22</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="struct_s_parameter_of_physical_constraint.html#a3a04623b5bfe7c3953e143544fea6a11">m_psi</a>;   </div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="struct_s_parameter_of_physical_constraint.html#ae0aa2e996e6caf0c90695662211969c9">   23</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="struct_s_parameter_of_physical_constraint.html#ae0aa2e996e6caf0c90695662211969c9">m_r</a>;     </div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>    <a class="code hl_struct" href="struct_s_parameter_of_physical_constraint.html">SParameterOfPhysicalConstraint</a>(<span class="keywordtype">double</span> u = 0, <span class="keywordtype">double</span> v = 0, <span class="keywordtype">double</span> psi = 0, <span class="keywordtype">double</span> r = 0)</div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    {</div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>        <a class="code hl_variable" href="struct_s_parameter_of_physical_constraint.html#ac53c4bcd27706744f43af32668bb9670">m_u</a> = u;</div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>        <a class="code hl_variable" href="struct_s_parameter_of_physical_constraint.html#a9162cb31649108465bf25e33a6711b25">m_v</a> = v;</div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>        <a class="code hl_variable" href="struct_s_parameter_of_physical_constraint.html#a3a04623b5bfe7c3953e143544fea6a11">m_psi</a> = psi;</div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>        <a class="code hl_variable" href="struct_s_parameter_of_physical_constraint.html#ae0aa2e996e6caf0c90695662211969c9">m_r</a> = r;</div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    }</div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>};</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="struct_s_limit_of_physical_constraint.html">   37</a></span><span class="keyword">struct </span><a class="code hl_struct" href="struct_s_limit_of_physical_constraint.html">SLimitOfPhysicalConstraint</a></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>{</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    <span class="keywordtype">double</span> m_uMin;</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    <span class="keywordtype">double</span> m_uMax;</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    <span class="keywordtype">double</span> m_vMin;</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    <span class="keywordtype">double</span> m_vMax;</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="keywordtype">double</span> m_rMin;</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <span class="keywordtype">double</span> m_rMax;</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="struct_s_limit_of_physical_constraint.html#ab7707bb957297c542e940600e131c14c">   45</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="struct_s_limit_of_physical_constraint.html#ab7707bb957297c542e940600e131c14c">m_dUMax</a>;         </div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="struct_s_limit_of_physical_constraint.html#a0eac2a3ba888ecdddbcf2d5d6ad3726f">   46</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="struct_s_limit_of_physical_constraint.html#a0eac2a3ba888ecdddbcf2d5d6ad3726f">m_aUMax</a>;         </div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="struct_s_limit_of_physical_constraint.html#ada1ed6271ec609f61cb21fabbac7da73">   47</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="struct_s_limit_of_physical_constraint.html#ada1ed6271ec609f61cb21fabbac7da73">m_dVMax</a>;         </div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="struct_s_limit_of_physical_constraint.html#a89f4c97727c3ee207ae139db6bde2bc6">   48</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="struct_s_limit_of_physical_constraint.html#a89f4c97727c3ee207ae139db6bde2bc6">m_aVMax</a>;         </div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="struct_s_limit_of_physical_constraint.html#a835b6e857d43844f172285233acfc029">   49</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="struct_s_limit_of_physical_constraint.html#a835b6e857d43844f172285233acfc029">m_angularDMax</a>;   </div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"><a class="line" href="struct_s_limit_of_physical_constraint.html#a4c69812573202ad48b44a38019f12313">   50</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="struct_s_limit_of_physical_constraint.html#a4c69812573202ad48b44a38019f12313">m_angularAMax</a>;   </div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="struct_s_limit_of_physical_constraint.html#a5836007c66052af82e45f926dda9433f">   51</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="struct_s_limit_of_physical_constraint.html#a5836007c66052af82e45f926dda9433f">m_safetyDis</a>;     </div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    <a class="code hl_struct" href="struct_s_limit_of_physical_constraint.html">SLimitOfPhysicalConstraint</a>( <span class="keywordtype">double</span> uMax = 0, <span class="keywordtype">double</span> vMax = 0,  <span class="keywordtype">double</span> rMax = 0,</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>        <span class="keywordtype">double</span> uMin = 0, <span class="keywordtype">double</span> vMin = 0, <span class="keywordtype">double</span> rMin = 0,</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>            <span class="keywordtype">double</span> dUMax = 0, <span class="keywordtype">double</span> aUMax = 0, <span class="keywordtype">double</span> dVMax = 0, <span class="keywordtype">double</span> aVMax = 0,</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>                <span class="keywordtype">double</span> angularDMax = 0, <span class="keywordtype">double</span> angularAMax = 0, <span class="keywordtype">double</span> safetyDis = 5)</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    {</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>        m_uMin = uMin;</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        m_uMax = uMax;</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>        m_vMin = vMin;</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>        m_vMax = vMax;</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>        m_rMin = rMin;</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>        m_rMax = rMax;</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>        <a class="code hl_variable" href="struct_s_limit_of_physical_constraint.html#ab7707bb957297c542e940600e131c14c">m_dUMax</a> = dUMax;</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>        <a class="code hl_variable" href="struct_s_limit_of_physical_constraint.html#a0eac2a3ba888ecdddbcf2d5d6ad3726f">m_aUMax</a> = aUMax;</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>        <a class="code hl_variable" href="struct_s_limit_of_physical_constraint.html#ada1ed6271ec609f61cb21fabbac7da73">m_dVMax</a> = dVMax;</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>        <a class="code hl_variable" href="struct_s_limit_of_physical_constraint.html#a89f4c97727c3ee207ae139db6bde2bc6">m_aVMax</a> = aVMax;</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>        <a class="code hl_variable" href="struct_s_limit_of_physical_constraint.html#a835b6e857d43844f172285233acfc029">m_angularDMax</a> = angularDMax;</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        <a class="code hl_variable" href="struct_s_limit_of_physical_constraint.html#a4c69812573202ad48b44a38019f12313">m_angularAMax</a> = angularAMax;</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>        <a class="code hl_variable" href="struct_s_limit_of_physical_constraint.html#a5836007c66052af82e45f926dda9433f">m_safetyDis</a> = safetyDis;</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    }</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>};</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span> </div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="struct_s_parameter_of_window.html">   79</a></span><span class="keyword">struct </span><a class="code hl_struct" href="struct_s_parameter_of_window.html">SParameterOfWindow</a></div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>{</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    <a class="code hl_struct" href="struct_s_parameter_of_physical_constraint.html">SParameterOfPhysicalConstraint</a> m_phyParameter;</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="struct_s_parameter_of_window.html#aa6535ee77173bf9f38cf199889650e4b">   82</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="struct_s_parameter_of_window.html#aa6535ee77173bf9f38cf199889650e4b">m_x</a>;                      </div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="struct_s_parameter_of_window.html#afe0fc6fccf136119fee783c12f07d55a">   83</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="struct_s_parameter_of_window.html#afe0fc6fccf136119fee783c12f07d55a">m_y</a>;                      </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span><span class="comment">//    double m_distOfObstacle;    /**&lt; 与最近障碍的距离       @details 与输入目标、障碍物的坐标系保持一致，既可以是栅格坐标，也可以是世界坐标*/</span></div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span><span class="comment">//    double m_distOfTarget;      /**&lt; 与目标曲线的距离       @details 与输入目标、障碍物的坐标系保持一致，既可以是栅格坐标，也可以是世界坐标*/</span></div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    <a class="code hl_struct" href="struct_s_parameter_of_window.html">SParameterOfWindow</a>(<span class="keywordtype">double</span> initX, <span class="keywordtype">double</span> initY, <a class="code hl_struct" href="struct_s_parameter_of_physical_constraint.html">SParameterOfPhysicalConstraint</a> phyParameter = <a class="code hl_struct" href="struct_s_parameter_of_physical_constraint.html">SParameterOfPhysicalConstraint</a>()</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>        <span class="comment">/*double distOfObstacle = 0, double distOfTarget = INF*/</span>)</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    {</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>        <a class="code hl_variable" href="struct_s_parameter_of_window.html#aa6535ee77173bf9f38cf199889650e4b">m_x</a> = initX;</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>        <a class="code hl_variable" href="struct_s_parameter_of_window.html#afe0fc6fccf136119fee783c12f07d55a">m_y</a> = initY;</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>        m_phyParameter = phyParameter;</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span><span class="comment">//        m_distOfObstacle = distOfObstacle;</span></div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span><span class="comment">//        m_distOfTarget = distOfTarget;</span></div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    }</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>};</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span> </div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="struct_s_waypoint.html">  102</a></span><span class="keyword">struct </span><a class="code hl_struct" href="struct_s_waypoint.html">SWaypoint</a></div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>{</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="struct_s_waypoint.html#acf84ee601fb3bc2be20b7804c922eb81">  104</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="struct_s_waypoint.html#acf84ee601fb3bc2be20b7804c922eb81">m_lng</a>;   </div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="struct_s_waypoint.html#adb70c2529f0b4fef456e16c2dd7da5e5">  105</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="struct_s_waypoint.html#adb70c2529f0b4fef456e16c2dd7da5e5">m_lat</a>;   </div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span> </div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"><a class="line" href="struct_s_waypoint.html#a88458741ad763f5a2a3c44f938c90e66">  112</a></span>    <a class="code hl_function" href="struct_s_waypoint.html#a88458741ad763f5a2a3c44f938c90e66">SWaypoint</a>(<span class="keywordtype">double</span> lng = 111.293718, <span class="keywordtype">double</span> lat = 30.695929)</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>    {</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>        <a class="code hl_variable" href="struct_s_waypoint.html#acf84ee601fb3bc2be20b7804c922eb81">m_lng</a> = lng;</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>        <a class="code hl_variable" href="struct_s_waypoint.html#adb70c2529f0b4fef456e16c2dd7da5e5">m_lat</a> = lat;</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    }</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>};</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="class_c_dynamic_window_approach.html">  123</a></span><span class="keyword">class </span><a class="code hl_class" href="class_c_dynamic_window_approach.html">CDynamicWindowApproach</a></div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>{</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span> </div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"><a class="line" href="struct_c_dynamic_window_approach_1_1_s_evaluation_parameter.html">  131</a></span>    <span class="keyword">struct </span><a class="code hl_struct" href="struct_c_dynamic_window_approach_1_1_s_evaluation_parameter.html">SEvaluationParameter</a></div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    {</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>        <span class="keywordtype">double</span> m_heading, m_clearance, m_velocity, m_u, m_v, m_r;</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"><a class="line" href="struct_c_dynamic_window_approach_1_1_s_evaluation_parameter.html#aa9c8c7543b33930b32e8b440294e82fb">  143</a></span>        <a class="code hl_function" href="struct_c_dynamic_window_approach_1_1_s_evaluation_parameter.html#aa9c8c7543b33930b32e8b440294e82fb">SEvaluationParameter</a>(<span class="keywordtype">double</span> heading = 0, <span class="keywordtype">double</span> clearance = 0, <span class="keywordtype">double</span> velocity = 0,</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>                             <span class="keywordtype">double</span> u = 0, <span class="keywordtype">double</span> v = 0, <span class="keywordtype">double</span> r = 0)</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>        {</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>            m_heading = heading;</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>            m_clearance = clearance;</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>            m_velocity = velocity;</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>            m_u = u;</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>            m_v = v;</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>            m_r = r;</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>        }</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    };</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span> </div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    <a class="code hl_class" href="class_c_dynamic_window_approach.html">CDynamicWindowApproach</a>(<span class="keyword">const</span> <a class="code hl_struct" href="struct_s_waypoint.html">SWaypoint</a> &amp;goal, <span class="keyword">const</span> <a class="code hl_struct" href="struct_s_waypoint.html">SWaypoint</a> &amp;startPos, <a class="code hl_struct" href="struct_s_parameter_of_physical_constraint.html">SParameterOfPhysicalConstraint</a> *phyParameter = <span class="keyword">nullptr</span>, <a class="code hl_struct" href="struct_s_limit_of_physical_constraint.html">SLimitOfPhysicalConstraint</a> *limit = <span class="keyword">nullptr</span>,</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>                           <span class="keywordtype">int</span> wcount = 30, <span class="keywordtype">double</span> samplingRate = 0.1, <span class="keywordtype">double</span> samplingVelocity = 0.01, <span class="keywordtype">double</span> samplingAngularVelocity = PI/180)</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    {</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#a3f1ef69f2989fe91be174f915b24f7e4">m_goal</a> = goal;</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#ae2b7fc62cbba56882be4f59980b11d88">m_startPos</a> = startPos;</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#a7a719da34ea2312724788a8931b03e02">m_phyParameter</a> = phyParameter;</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#aa2afa7610202a6df4c301c43083a523e">m_limit</a> = limit;</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#af17ef50057cefa1ce3596afc0074e52a">m_wcount</a> = wcount;</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#ac1972d45b47f5d852c7810233ef5fcd8">m_samplingRate</a> = samplingRate;</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#a655ba5aad7fd7cdba839b7845cd46650">m_samplingVelocity</a> = samplingVelocity;</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#a9da95703f4b5c0e61d7c9bcd8d64117c">m_samplingAngularVelocity</a> = samplingAngularVelocity;</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#ad897cad46e029468f711d37d2165dd85">m_x</a> = 0;</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#ad2f1a291134a9947e3d48ef461361d1e">m_y</a> = 0;</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>    }</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>    <a class="code hl_class" href="class_c_dynamic_window_approach.html">CDynamicWindowApproach</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> &amp;lngOfGoal, <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;latOfGoal, <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;lngOfStart, <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;latOfStart, <a class="code hl_struct" href="struct_s_parameter_of_physical_constraint.html">SParameterOfPhysicalConstraint</a> *phyParameter = <span class="keyword">nullptr</span>, <a class="code hl_struct" href="struct_s_limit_of_physical_constraint.html">SLimitOfPhysicalConstraint</a> *limit = <span class="keyword">nullptr</span>,</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>                           <span class="keywordtype">int</span> wcount = 30, <span class="keywordtype">double</span> samplingRate = 0.1, <span class="keywordtype">double</span> samplingVelocity = 0.01, <span class="keywordtype">double</span> samplingAngularVelocity = PI/180)</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>    {</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#a3f1ef69f2989fe91be174f915b24f7e4">m_goal</a> = <a class="code hl_struct" href="struct_s_waypoint.html">SWaypoint</a>(lngOfGoal, latOfGoal);</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#ae2b7fc62cbba56882be4f59980b11d88">m_startPos</a> = <a class="code hl_struct" href="struct_s_waypoint.html">SWaypoint</a>(lngOfStart, latOfStart);</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#a7a719da34ea2312724788a8931b03e02">m_phyParameter</a> = phyParameter;</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#aa2afa7610202a6df4c301c43083a523e">m_limit</a> = limit;</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#af17ef50057cefa1ce3596afc0074e52a">m_wcount</a> = wcount;</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#ac1972d45b47f5d852c7810233ef5fcd8">m_samplingRate</a> = samplingRate;</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#a655ba5aad7fd7cdba839b7845cd46650">m_samplingVelocity</a> = samplingVelocity;</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#a9da95703f4b5c0e61d7c9bcd8d64117c">m_samplingAngularVelocity</a> = samplingAngularVelocity;</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#ad897cad46e029468f711d37d2165dd85">m_x</a> = 0;</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#ad2f1a291134a9947e3d48ef461361d1e">m_y</a> = 0;</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>    }</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>    <a class="code hl_class" href="class_c_dynamic_window_approach.html">~CDynamicWindowApproach</a>(<span class="keywordtype">void</span>)</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>    {</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#a7a719da34ea2312724788a8931b03e02">m_phyParameter</a> = <span class="keyword">nullptr</span>;</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>        <a class="code hl_variable" href="class_c_dynamic_window_approach.html#aa2afa7610202a6df4c301c43083a523e">m_limit</a> = <span class="keyword">nullptr</span>;</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>    }</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span> </div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>    vector&lt;SParameterOfWindow&gt; <a class="code hl_function" href="class_c_dynamic_window_approach.html#a2044827ec58011512f129d147681d1a1">PlanPath</a>(vector&lt;pair&lt;double, double&gt;&gt; &amp;waypoints);</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>    vector&lt;double&gt; DynamicWindowApproch(<a class="code hl_struct" href="struct_s_parameter_of_window.html">SParameterOfWindow</a> currentState, vector&lt;pair&lt;double, double&gt;&gt; &amp;obstacles, vector&lt;pair&lt;double, double&gt;&gt; &amp;waypoints);</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>    vector&lt;double&gt; <a class="code hl_function" href="class_c_dynamic_window_approach.html#ae659051cf47f859b8da47a228a6783f7">CreateSolutionSpace</a>(<a class="code hl_struct" href="struct_s_parameter_of_physical_constraint.html">SParameterOfPhysicalConstraint</a> *phyParameter);</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>    <a class="code hl_struct" href="struct_s_parameter_of_window.html">SParameterOfWindow</a> <a class="code hl_function" href="class_c_dynamic_window_approach.html#ac5070c22f0926a1dcf6d9d89b8be583a">CalculateNextWindowParameter</a>(<span class="keyword">const</span> <a class="code hl_struct" href="struct_s_parameter_of_window.html">SParameterOfWindow</a> currentWindow, <span class="keyword">const</span> <span class="keywordtype">double</span> u, <span class="keyword">const</span> <span class="keywordtype">double</span> v, <span class="keyword">const</span> <span class="keywordtype">double</span> r<span class="comment">/*, const vector&lt;pair&lt;double, double&gt; &gt; &amp;obstacles, const vector&lt;pair&lt;double, double&gt; &gt; &amp;waypoints*/</span>);</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="class_c_dynamic_window_approach.html#a190a0499428ba167bfb2f5635a5c0bb4">CalculateDisOfObstacle</a>(<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, <span class="keyword">const</span> vector&lt;pair&lt;double, double&gt;&gt; &amp;obstacles);</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>    <span class="keywordtype">double</span> CalculateDisOfTarget(<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, <span class="keyword">const</span> vector&lt;pair&lt;double, double&gt;&gt; &amp;waypoints);</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>    vector&lt;SParameterOfWindow&gt; <a class="code hl_function" href="class_c_dynamic_window_approach.html#af75d631080d305e281d531e759010a5d">GenerateTraj</a>(<span class="keyword">const</span> <a class="code hl_struct" href="struct_s_parameter_of_window.html">SParameterOfWindow</a> &amp;currentWindow, <span class="keyword">const</span> <span class="keywordtype">double</span> u, <span class="keyword">const</span> <span class="keywordtype">double</span> v, <span class="keyword">const</span> <span class="keywordtype">double</span> r<span class="comment">/*, const vector&lt;pair&lt;double, double&gt; &gt; &amp;obstacles, const vector&lt;pair&lt;double, double&gt; &gt; &amp;waypoints*/</span>);</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>    <span class="keywordtype">double</span> <a class="code hl_function" href="class_c_dynamic_window_approach.html#a4ce8fe6a4584ed4b9a1fee9ef42f5972">CalculateBreakingDist</a>(<span class="keywordtype">double</span> u, <span class="keywordtype">double</span> v);</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span> </div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"><a class="line" href="class_c_dynamic_window_approach.html#a7a719da34ea2312724788a8931b03e02">  198</a></span>    <a class="code hl_struct" href="struct_s_parameter_of_physical_constraint.html">SParameterOfPhysicalConstraint</a> *<a class="code hl_variable" href="class_c_dynamic_window_approach.html#a7a719da34ea2312724788a8931b03e02">m_phyParameter</a>;     </div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"><a class="line" href="class_c_dynamic_window_approach.html#aa2afa7610202a6df4c301c43083a523e">  199</a></span>    <a class="code hl_struct" href="struct_s_limit_of_physical_constraint.html">SLimitOfPhysicalConstraint</a> *<a class="code hl_variable" href="class_c_dynamic_window_approach.html#aa2afa7610202a6df4c301c43083a523e">m_limit</a>;                </div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"><a class="line" href="class_c_dynamic_window_approach.html#a3f1ef69f2989fe91be174f915b24f7e4">  200</a></span>    <a class="code hl_struct" href="struct_s_waypoint.html">SWaypoint</a> <a class="code hl_variable" href="class_c_dynamic_window_approach.html#a3f1ef69f2989fe91be174f915b24f7e4">m_goal</a>;                                   </div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"><a class="line" href="class_c_dynamic_window_approach.html#ae2b7fc62cbba56882be4f59980b11d88">  201</a></span>    <a class="code hl_struct" href="struct_s_waypoint.html">SWaypoint</a> <a class="code hl_variable" href="class_c_dynamic_window_approach.html#ae2b7fc62cbba56882be4f59980b11d88">m_startPos</a>;                               </div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"><a class="line" href="class_c_dynamic_window_approach.html#ad897cad46e029468f711d37d2165dd85">  202</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="class_c_dynamic_window_approach.html#ad897cad46e029468f711d37d2165dd85">m_x</a>;                                         </div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"><a class="line" href="class_c_dynamic_window_approach.html#ad2f1a291134a9947e3d48ef461361d1e">  203</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="class_c_dynamic_window_approach.html#ad2f1a291134a9947e3d48ef461361d1e">m_y</a>;                                         </div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"><a class="line" href="class_c_dynamic_window_approach.html#af17ef50057cefa1ce3596afc0074e52a">  204</a></span>    <span class="keywordtype">int</span> <a class="code hl_variable" href="class_c_dynamic_window_approach.html#af17ef50057cefa1ce3596afc0074e52a">m_wcount</a>;                                       </div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"><a class="line" href="class_c_dynamic_window_approach.html#ac1972d45b47f5d852c7810233ef5fcd8">  205</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="class_c_dynamic_window_approach.html#ac1972d45b47f5d852c7810233ef5fcd8">m_samplingRate</a>;                              </div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"><a class="line" href="class_c_dynamic_window_approach.html#a655ba5aad7fd7cdba839b7845cd46650">  206</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="class_c_dynamic_window_approach.html#a655ba5aad7fd7cdba839b7845cd46650">m_samplingVelocity</a>;                          </div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"><a class="line" href="class_c_dynamic_window_approach.html#a9da95703f4b5c0e61d7c9bcd8d64117c">  207</a></span>    <span class="keywordtype">double</span> <a class="code hl_variable" href="class_c_dynamic_window_approach.html#a9da95703f4b5c0e61d7c9bcd8d64117c">m_samplingAngularVelocity</a>;                   </div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>};</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span> </div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span><span class="preprocessor">#endif </span><span class="comment">// CDYNAMICWINDOWAPPROACH_H</span></div>
<div class="ttc" id="aclass_c_dynamic_window_approach_html"><div class="ttname"><a href="class_c_dynamic_window_approach.html">CDynamicWindowApproach</a></div><div class="ttdoc">动态窗口法类</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:124</div></div>
<div class="ttc" id="aclass_c_dynamic_window_approach_html_a190a0499428ba167bfb2f5635a5c0bb4"><div class="ttname"><a href="class_c_dynamic_window_approach.html#a190a0499428ba167bfb2f5635a5c0bb4">CDynamicWindowApproach::CalculateDisOfObstacle</a></div><div class="ttdeci">double CalculateDisOfObstacle(double x, double y, const vector&lt; pair&lt; double, double &gt; &gt; &amp;obstacles)</div><div class="ttdoc">计算（x,y）与障碍物之间的最短距离</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.cpp:146</div></div>
<div class="ttc" id="aclass_c_dynamic_window_approach_html_a2044827ec58011512f129d147681d1a1"><div class="ttname"><a href="class_c_dynamic_window_approach.html#a2044827ec58011512f129d147681d1a1">CDynamicWindowApproach::PlanPath</a></div><div class="ttdeci">vector&lt; SParameterOfWindow &gt; PlanPath(vector&lt; pair&lt; double, double &gt; &gt; &amp;waypoints)</div><div class="ttdoc">执行动态窗口法规划路径</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.cpp:7</div></div>
<div class="ttc" id="aclass_c_dynamic_window_approach_html_a3f1ef69f2989fe91be174f915b24f7e4"><div class="ttname"><a href="class_c_dynamic_window_approach.html#a3f1ef69f2989fe91be174f915b24f7e4">CDynamicWindowApproach::m_goal</a></div><div class="ttdeci">SWaypoint m_goal</div><div class="ttdoc">终点的经纬度</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:200</div></div>
<div class="ttc" id="aclass_c_dynamic_window_approach_html_a4ce8fe6a4584ed4b9a1fee9ef42f5972"><div class="ttname"><a href="class_c_dynamic_window_approach.html#a4ce8fe6a4584ed4b9a1fee9ef42f5972">CDynamicWindowApproach::CalculateBreakingDist</a></div><div class="ttdeci">double CalculateBreakingDist(double u, double v)</div><div class="ttdoc">计算制动距离</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.cpp:195</div></div>
<div class="ttc" id="aclass_c_dynamic_window_approach_html_a655ba5aad7fd7cdba839b7845cd46650"><div class="ttname"><a href="class_c_dynamic_window_approach.html#a655ba5aad7fd7cdba839b7845cd46650">CDynamicWindowApproach::m_samplingVelocity</a></div><div class="ttdeci">double m_samplingVelocity</div><div class="ttdoc">速度采样增量</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:206</div></div>
<div class="ttc" id="aclass_c_dynamic_window_approach_html_a7a719da34ea2312724788a8931b03e02"><div class="ttname"><a href="class_c_dynamic_window_approach.html#a7a719da34ea2312724788a8931b03e02">CDynamicWindowApproach::m_phyParameter</a></div><div class="ttdeci">SParameterOfPhysicalConstraint * m_phyParameter</div><div class="ttdoc">状态变量</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:198</div></div>
<div class="ttc" id="aclass_c_dynamic_window_approach_html_a9da95703f4b5c0e61d7c9bcd8d64117c"><div class="ttname"><a href="class_c_dynamic_window_approach.html#a9da95703f4b5c0e61d7c9bcd8d64117c">CDynamicWindowApproach::m_samplingAngularVelocity</a></div><div class="ttdeci">double m_samplingAngularVelocity</div><div class="ttdoc">角速度采样增量</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:207</div></div>
<div class="ttc" id="aclass_c_dynamic_window_approach_html_aa2afa7610202a6df4c301c43083a523e"><div class="ttname"><a href="class_c_dynamic_window_approach.html#aa2afa7610202a6df4c301c43083a523e">CDynamicWindowApproach::m_limit</a></div><div class="ttdeci">SLimitOfPhysicalConstraint * m_limit</div><div class="ttdoc">状态上下限</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:199</div></div>
<div class="ttc" id="aclass_c_dynamic_window_approach_html_ac1972d45b47f5d852c7810233ef5fcd8"><div class="ttname"><a href="class_c_dynamic_window_approach.html#ac1972d45b47f5d852c7810233ef5fcd8">CDynamicWindowApproach::m_samplingRate</a></div><div class="ttdeci">double m_samplingRate</div><div class="ttdoc">采样时间间隔</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:205</div></div>
<div class="ttc" id="aclass_c_dynamic_window_approach_html_ac5070c22f0926a1dcf6d9d89b8be583a"><div class="ttname"><a href="class_c_dynamic_window_approach.html#ac5070c22f0926a1dcf6d9d89b8be583a">CDynamicWindowApproach::CalculateNextWindowParameter</a></div><div class="ttdeci">SParameterOfWindow CalculateNextWindowParameter(const SParameterOfWindow currentWindow, const double u, const double v, const double r)</div><div class="ttdoc">根据给定的解（ u/v/r）生成下一个动态窗口</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.cpp:125</div></div>
<div class="ttc" id="aclass_c_dynamic_window_approach_html_ad2f1a291134a9947e3d48ef461361d1e"><div class="ttname"><a href="class_c_dynamic_window_approach.html#ad2f1a291134a9947e3d48ef461361d1e">CDynamicWindowApproach::m_y</a></div><div class="ttdeci">double m_y</div><div class="ttdoc">当前y方向坐标</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:203</div></div>
<div class="ttc" id="aclass_c_dynamic_window_approach_html_ad897cad46e029468f711d37d2165dd85"><div class="ttname"><a href="class_c_dynamic_window_approach.html#ad897cad46e029468f711d37d2165dd85">CDynamicWindowApproach::m_x</a></div><div class="ttdeci">double m_x</div><div class="ttdoc">当前x方向坐标</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:202</div></div>
<div class="ttc" id="aclass_c_dynamic_window_approach_html_ae2b7fc62cbba56882be4f59980b11d88"><div class="ttname"><a href="class_c_dynamic_window_approach.html#ae2b7fc62cbba56882be4f59980b11d88">CDynamicWindowApproach::m_startPos</a></div><div class="ttdeci">SWaypoint m_startPos</div><div class="ttdoc">起点的经纬度</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:201</div></div>
<div class="ttc" id="aclass_c_dynamic_window_approach_html_ae659051cf47f859b8da47a228a6783f7"><div class="ttname"><a href="class_c_dynamic_window_approach.html#ae659051cf47f859b8da47a228a6783f7">CDynamicWindowApproach::CreateSolutionSpace</a></div><div class="ttdeci">vector&lt; double &gt; CreateSolutionSpace(SParameterOfPhysicalConstraint *phyParameter)</div><div class="ttdoc">计算速度u/v与角速度r形成的解空间</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.cpp:100</div></div>
<div class="ttc" id="aclass_c_dynamic_window_approach_html_af17ef50057cefa1ce3596afc0074e52a"><div class="ttname"><a href="class_c_dynamic_window_approach.html#af17ef50057cefa1ce3596afc0074e52a">CDynamicWindowApproach::m_wcount</a></div><div class="ttdeci">int m_wcount</div><div class="ttdoc">一次规划的窗口数</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:204</div></div>
<div class="ttc" id="aclass_c_dynamic_window_approach_html_af75d631080d305e281d531e759010a5d"><div class="ttname"><a href="class_c_dynamic_window_approach.html#af75d631080d305e281d531e759010a5d">CDynamicWindowApproach::GenerateTraj</a></div><div class="ttdeci">vector&lt; SParameterOfWindow &gt; GenerateTraj(const SParameterOfWindow &amp;currentWindow, const double u, const double v, const double r)</div><div class="ttdoc">预测轨迹点</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.cpp:175</div></div>
<div class="ttc" id="astruct_c_dynamic_window_approach_1_1_s_evaluation_parameter_html"><div class="ttname"><a href="struct_c_dynamic_window_approach_1_1_s_evaluation_parameter.html">CDynamicWindowApproach::SEvaluationParameter</a></div><div class="ttdoc">评估函数结构体</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:132</div></div>
<div class="ttc" id="astruct_c_dynamic_window_approach_1_1_s_evaluation_parameter_html_aa9c8c7543b33930b32e8b440294e82fb"><div class="ttname"><a href="struct_c_dynamic_window_approach_1_1_s_evaluation_parameter.html#aa9c8c7543b33930b32e8b440294e82fb">CDynamicWindowApproach::SEvaluationParameter::SEvaluationParameter</a></div><div class="ttdeci">SEvaluationParameter(double heading=0, double clearance=0, double velocity=0, double u=0, double v=0, double r=0)</div><div class="ttdoc">默认构造函数</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:143</div></div>
<div class="ttc" id="astruct_s_limit_of_physical_constraint_html"><div class="ttname"><a href="struct_s_limit_of_physical_constraint.html">SLimitOfPhysicalConstraint</a></div><div class="ttdoc">小艇的各物理量约束</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:38</div></div>
<div class="ttc" id="astruct_s_limit_of_physical_constraint_html_a0eac2a3ba888ecdddbcf2d5d6ad3726f"><div class="ttname"><a href="struct_s_limit_of_physical_constraint.html#a0eac2a3ba888ecdddbcf2d5d6ad3726f">SLimitOfPhysicalConstraint::m_aUMax</a></div><div class="ttdeci">double m_aUMax</div><div class="ttdoc">横向最大加速度</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:46</div></div>
<div class="ttc" id="astruct_s_limit_of_physical_constraint_html_a4c69812573202ad48b44a38019f12313"><div class="ttname"><a href="struct_s_limit_of_physical_constraint.html#a4c69812573202ad48b44a38019f12313">SLimitOfPhysicalConstraint::m_angularAMax</a></div><div class="ttdeci">double m_angularAMax</div><div class="ttdoc">最大角减速度</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:50</div></div>
<div class="ttc" id="astruct_s_limit_of_physical_constraint_html_a5836007c66052af82e45f926dda9433f"><div class="ttname"><a href="struct_s_limit_of_physical_constraint.html#a5836007c66052af82e45f926dda9433f">SLimitOfPhysicalConstraint::m_safetyDis</a></div><div class="ttdeci">double m_safetyDis</div><div class="ttdoc">安全距离，默认为5</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:51</div></div>
<div class="ttc" id="astruct_s_limit_of_physical_constraint_html_a835b6e857d43844f172285233acfc029"><div class="ttname"><a href="struct_s_limit_of_physical_constraint.html#a835b6e857d43844f172285233acfc029">SLimitOfPhysicalConstraint::m_angularDMax</a></div><div class="ttdeci">double m_angularDMax</div><div class="ttdoc">最大角加速度</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:49</div></div>
<div class="ttc" id="astruct_s_limit_of_physical_constraint_html_a89f4c97727c3ee207ae139db6bde2bc6"><div class="ttname"><a href="struct_s_limit_of_physical_constraint.html#a89f4c97727c3ee207ae139db6bde2bc6">SLimitOfPhysicalConstraint::m_aVMax</a></div><div class="ttdeci">double m_aVMax</div><div class="ttdoc">纵向最大加速度</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:48</div></div>
<div class="ttc" id="astruct_s_limit_of_physical_constraint_html_ab7707bb957297c542e940600e131c14c"><div class="ttname"><a href="struct_s_limit_of_physical_constraint.html#ab7707bb957297c542e940600e131c14c">SLimitOfPhysicalConstraint::m_dUMax</a></div><div class="ttdeci">double m_dUMax</div><div class="ttdoc">横向最大减速度</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:45</div></div>
<div class="ttc" id="astruct_s_limit_of_physical_constraint_html_ada1ed6271ec609f61cb21fabbac7da73"><div class="ttname"><a href="struct_s_limit_of_physical_constraint.html#ada1ed6271ec609f61cb21fabbac7da73">SLimitOfPhysicalConstraint::m_dVMax</a></div><div class="ttdeci">double m_dVMax</div><div class="ttdoc">纵向最大减速度</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:47</div></div>
<div class="ttc" id="astruct_s_parameter_of_physical_constraint_html"><div class="ttname"><a href="struct_s_parameter_of_physical_constraint.html">SParameterOfPhysicalConstraint</a></div><div class="ttdoc">小艇建模后的物理量</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:19</div></div>
<div class="ttc" id="astruct_s_parameter_of_physical_constraint_html_a3a04623b5bfe7c3953e143544fea6a11"><div class="ttname"><a href="struct_s_parameter_of_physical_constraint.html#a3a04623b5bfe7c3953e143544fea6a11">SParameterOfPhysicalConstraint::m_psi</a></div><div class="ttdeci">double m_psi</div><div class="ttdoc">艏向角</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:22</div></div>
<div class="ttc" id="astruct_s_parameter_of_physical_constraint_html_a9162cb31649108465bf25e33a6711b25"><div class="ttname"><a href="struct_s_parameter_of_physical_constraint.html#a9162cb31649108465bf25e33a6711b25">SParameterOfPhysicalConstraint::m_v</a></div><div class="ttdeci">double m_v</div><div class="ttdoc">纵向速度</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:21</div></div>
<div class="ttc" id="astruct_s_parameter_of_physical_constraint_html_ac53c4bcd27706744f43af32668bb9670"><div class="ttname"><a href="struct_s_parameter_of_physical_constraint.html#ac53c4bcd27706744f43af32668bb9670">SParameterOfPhysicalConstraint::m_u</a></div><div class="ttdeci">double m_u</div><div class="ttdoc">横向速度</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:20</div></div>
<div class="ttc" id="astruct_s_parameter_of_physical_constraint_html_ae0aa2e996e6caf0c90695662211969c9"><div class="ttname"><a href="struct_s_parameter_of_physical_constraint.html#ae0aa2e996e6caf0c90695662211969c9">SParameterOfPhysicalConstraint::m_r</a></div><div class="ttdeci">double m_r</div><div class="ttdoc">角速度</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:23</div></div>
<div class="ttc" id="astruct_s_parameter_of_window_html"><div class="ttname"><a href="struct_s_parameter_of_window.html">SParameterOfWindow</a></div><div class="ttdoc">动态窗口结构体</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:80</div></div>
<div class="ttc" id="astruct_s_parameter_of_window_html_aa6535ee77173bf9f38cf199889650e4b"><div class="ttname"><a href="struct_s_parameter_of_window.html#aa6535ee77173bf9f38cf199889650e4b">SParameterOfWindow::m_x</a></div><div class="ttdeci">double m_x</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:82</div></div>
<div class="ttc" id="astruct_s_parameter_of_window_html_afe0fc6fccf136119fee783c12f07d55a"><div class="ttname"><a href="struct_s_parameter_of_window.html#afe0fc6fccf136119fee783c12f07d55a">SParameterOfWindow::m_y</a></div><div class="ttdeci">double m_y</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:83</div></div>
<div class="ttc" id="astruct_s_waypoint_html"><div class="ttname"><a href="struct_s_waypoint.html">SWaypoint</a></div><div class="ttdoc">经纬度结构体</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:103</div></div>
<div class="ttc" id="astruct_s_waypoint_html_a88458741ad763f5a2a3c44f938c90e66"><div class="ttname"><a href="struct_s_waypoint.html#a88458741ad763f5a2a3c44f938c90e66">SWaypoint::SWaypoint</a></div><div class="ttdeci">SWaypoint(double lng=111.293718, double lat=30.695929)</div><div class="ttdoc">初始化经纬度，默认值为宜昌市的经纬度</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:112</div></div>
<div class="ttc" id="astruct_s_waypoint_html_acf84ee601fb3bc2be20b7804c922eb81"><div class="ttname"><a href="struct_s_waypoint.html#acf84ee601fb3bc2be20b7804c922eb81">SWaypoint::m_lng</a></div><div class="ttdeci">double m_lng</div><div class="ttdoc">经度</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:104</div></div>
<div class="ttc" id="astruct_s_waypoint_html_adb70c2529f0b4fef456e16c2dd7da5e5"><div class="ttname"><a href="struct_s_waypoint.html#adb70c2529f0b4fef456e16c2dd7da5e5">SWaypoint::m_lat</a></div><div class="ttdeci">double m_lat</div><div class="ttdoc">纬度</div><div class="ttdef"><b>Definition:</b> cdynamicwindowapproach.h:105</div></div>
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